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ObstacleAvoidance: fix bug in requesting update of the mission item.

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During takeoff you're always in the condition within xy acceptance radius
and more than altitude radius away from the takeoff waypoint
This commit is contained in:
Martina Rivizzigno
2019-05-29 15:16:33 +02:00
committed by Matthias Grob
parent 9e8575b71b
commit 0963dc9af1
3 changed files with 9 additions and 4 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+2 -1
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@@ -280,7 +280,8 @@ bool FlightTaskAuto::_evaluateTriplets()
_sub_triplet_setpoint->get().next.yaw,
_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN,
_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active());
_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt,
_sub_triplet_setpoint->get().current.type);
}
return true;